Fuzzy fractional order force control of 6PUS-UPU redundantly actuated parallel robot based on inner model position control structure

Shuhuan Wen; Baowei Zhang; Pengcheng Hao; Hak-keung Lam; Hongbin Wang

doi:10.1016/j.engappai.2017.07.002

Fuzzy fractional order force control of 6PUS-UPU redundantly actuated parallel robot based on inner model position control structure

Shuhuan Wen^*, Baowei Zhang, Pengcheng Hao, Hak-keung Lam, Hongbin Wang

^*Corresponding author for this work

Yanshan University

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

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Abstract

The 6PUS-UPU parallel robot is a kind of multi-input multi-output, coupled and highly nonlinear system. Conventional control methods are no longer effective for this complex 6PUS-UPU parallel robot. In this paper, the Inner Model Control (IMC) method in the position control loop and the Fractional Order Fuzzy Proportional–Integral Derivative (FOPID) control method in the force loop are investigated. To study the validness of the IMC method and the FOPID control method, their performance is compared with other published control methods under disturbance and noise, such as three-loop control method, PI control method and Fuzzy Proportional–Integral-Derivative control method. The simulation results clearly demonstrate that the robustness of IMC method and the FOPID control method outperform other methods.

Original language	English
Pages (from-to)	200-211
Number of pages	12
Journal	ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
Volume	65
Early online date	23 Aug 2017
DOIs	https://doi.org/10.1016/j.engappai.2017.07.002
Publication status	Published - 1 Oct 2017

Keywords

Fractional order
Fuzzy control
Inner model control
Parallel robot

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10.1016/j.engappai.2017.07.002

Fuzzy Fractional Order Force_WEN_Publishedonline23August2017_GREEN AAAccepted author manuscript, 1.18 MBLicence: CC BY-NC-ND

Cite this

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title = "Fuzzy fractional order force control of 6PUS-UPU redundantly actuated parallel robot based on inner model position control structure",

abstract = "The 6PUS-UPU parallel robot is a kind of multi-input multi-output, coupled and highly nonlinear system. Conventional control methods are no longer effective for this complex 6PUS-UPU parallel robot. In this paper, the Inner Model Control (IMC) method in the position control loop and the Fractional Order Fuzzy Proportional–Integral Derivative (FOPID) control method in the force loop are investigated. To study the validness of the IMC method and the FOPID control method, their performance is compared with other published control methods under disturbance and noise, such as three-loop control method, PI control method and Fuzzy Proportional–Integral-Derivative control method. The simulation results clearly demonstrate that the robustness of IMC method and the FOPID control method outperform other methods.",

keywords = "Fractional order, Fuzzy control, Inner model control, Parallel robot",

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AU - Wen, Shuhuan

AU - Zhang, Baowei

AU - Hao, Pengcheng

AU - Lam, Hak-keung

AU - Wang, Hongbin

PY - 2017/10/1

Y1 - 2017/10/1

N2 - The 6PUS-UPU parallel robot is a kind of multi-input multi-output, coupled and highly nonlinear system. Conventional control methods are no longer effective for this complex 6PUS-UPU parallel robot. In this paper, the Inner Model Control (IMC) method in the position control loop and the Fractional Order Fuzzy Proportional–Integral Derivative (FOPID) control method in the force loop are investigated. To study the validness of the IMC method and the FOPID control method, their performance is compared with other published control methods under disturbance and noise, such as three-loop control method, PI control method and Fuzzy Proportional–Integral-Derivative control method. The simulation results clearly demonstrate that the robustness of IMC method and the FOPID control method outperform other methods.

AB - The 6PUS-UPU parallel robot is a kind of multi-input multi-output, coupled and highly nonlinear system. Conventional control methods are no longer effective for this complex 6PUS-UPU parallel robot. In this paper, the Inner Model Control (IMC) method in the position control loop and the Fractional Order Fuzzy Proportional–Integral Derivative (FOPID) control method in the force loop are investigated. To study the validness of the IMC method and the FOPID control method, their performance is compared with other published control methods under disturbance and noise, such as three-loop control method, PI control method and Fuzzy Proportional–Integral-Derivative control method. The simulation results clearly demonstrate that the robustness of IMC method and the FOPID control method outperform other methods.

KW - Fractional order

KW - Fuzzy control

KW - Inner model control

KW - Parallel robot

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Fuzzy fractional order force control of 6PUS-UPU redundantly actuated parallel robot based on inner model position control structure

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